final presentation - bradley...

Medic

al Im

agin

g

Ima

ge

Ge

ne

rato

r to

Su

pp

ort

th

e A

pp

lica

tio

n o

f a H

aptic

De

vic

e f

or

the

Sim

ula

tio

n o

f A

rth

rosco

pic

Su

rge

ry

Bra

dle

y U

niv

ers

ity

Depart

ment of E

lectr

ical and C

om

pute

r E

ngin

eering

By: R

enata

Zabaw

a

Pro

ject A

dvis

or:

D

r. T

hom

as L

. S

tew

art

May 2

, 2006

Conte

nts

�In

troduction

�S

yste

m B

lock D

iagra

ms

�S

oftw

are

Blo

ck D

iagra

ms

�M

odels

of A

rthro

scopic

Surg

ery

Vie

ws

�F

utu

re W

ork

�Q

uestions

Pro

ject In

troduction

�M

agnetic R

eson

ance

Imagin

g (

MR

I)

�S

ho

w c

ross s

ection k

nee

�C

reate

3-D

model of

cart

ilage

�S

imu

late

surg

eo

n’s

vie

w

duri

ng a

rthro

scop

ic

surg

ery

�S

imu

late

the a

rthro

scopic

surg

ery

with a

haptic

feedback s

yste

m

MR

I S

can o

f K

nee

Actu

al V

iew

s o

f A

rthro

scopic

Knee

Surg

ery

Syste

m B

lock D

iagra

m

Ima

ge P

roce

ssin

g B

lock D

iag

ram

�C

reate

s m

ode

l of

cart

ilag

e

�Is

osurf

aces-d

ispla

ys o

vera

ll str

uctu

re o

f cart

ilage

�Is

ocaps-r

eveal deta

ils o

f in

terior

cart

ilage

Cart

ilage M

odel S

plit

�R

en

de

rin

g w

ith

Zb

uff

er

Gra

ph

ics B

lock D

iagra

m

�T

akes the m

odel of cart

ilage a

nd c

reate

s

the s

imula

tion o

f an a

rthro

scopic

menis

cus

surg

ery

Sm

ooth

the D

ata

�1

/10

in

ch

th

ick

ca

rtila

ge

str

etc

he

d o

n

mo

nito

r

�L

ack o

f da

ta

�S

mo

oth

ing

filt

ers

Reduce P

atc

hes

�R

educes the n

um

ber

of fa

ces a

nd v

ert

ices

of th

e p

atc

h

�P

reserv

e the o

vera

ll shape o

f th

e o

rigin

al

obje

ct

�Less s

urf

aces, le

ss s

hadow

and b

endin

g

Reduce P

atc

hes

Sm

ooth

ed C

art

ilage M

odel

Com

parison C

art

ilage M

odels

Gra

ph

ics B

lock D

iagra

m

Vie

w

�S

et T

arg

et

�S

et C

am

era

Positio

n

Gra

ph

ics B

lock D

iagra

m

Lig

ht

�P

ropert

ies

�A

mb

ien

t S

tre

ng

th

�S

pe

cu

lar

Exp

on

en

t

�S

pe

cu

lar

Str

en

gth

�D

iffu

se

Str

en

gth

�L

igh

tin

g –

Ph

on

g

�S

et P

ositio

n o

f Lig

ht

Surf

ace N

orm

als

�N

orm

al to

pla

ne

of

su

rfa

ce

�S

urf

ace

no

rma

ls

gre

atly e

ffe

ct vis

ual

ap

pe

ara

nce

of

lit

iso

su

rfa

ce

s

Surf

ace N

orm

als

on t

he V

isual

Appe

ara

nce o

f Lit Isosurf

aces

tria

ngle

s lit identically

vert

ex n

orm

als

used to lig

ht each

vert

ex o

f tr

iangle

s indiv

idually

Cart

ilage M

odel w

ith L

ight and C

am

era

Positio

n S

et

Gra

ph

ics B

lock D

iagra

m

Model of H

ealthy C

art

ilage

Model of T

orn

Cart

ilage

Com

parison o

f R

aw

Model vs. F

inal M

odel

Actu

al V

iew

s o

f A

rthro

scopic

Knee S

urg

ery

Com

parison o

f A

ctu

al vs. H

ealthy C

art

ilage

Model

Com

parison o

f A

ctu

al vs. T

orn

Cart

ilage

Model

Futu

re W

ork

�M

edic

al S

imula

tor

for

Art

hro

scopic

Knee S

urg

ery

�Im

ple

ment

the v

iew

fro

m M

atlab w

ith t

he H

aptic

Feed

back S

yste

m

Pro

ject S

um

mary

�In

troduction

�S

yste

m B

lock D

iagra

ms

�S

oftw

are

Blo

ck D

iagra

ms

�M

odels

of A

rthro

scopic

Surg

ery

Vie

ws

�F

utu

re W

ork

�Q

uestions

Questions?

Vie

w F

em

ur

Matlab C

ode

clc

cle

ar

load('seg_im

g_fe

mur_

knee1','

-mat')

;

new

cut=

squeeze(c

img6);

cle

ar

cim

g4

cle

ar

cim

g5

y=

sm

ooth

3(n

ew

cut)

;

Ds =

sm

ooth

3(n

ew

cut,'b

ox',[

7 7

7])

;

Ds(5

1:6

2,2

0:4

0,1

2:1

5)=

y(5

1:6

2,2

0:4

0,1

2:1

5);

Ds=

sm

ooth

3(D

s);

figure

,

whitebg('k')

Vie

w F

em

ur

Cod

e C

ontin

ued

his

o =

patc

h(isosurf

ace(D

s,6

),...

'FaceC

olo

r',[255/2

56 2

55/2

56

240/2

56],...%

ivory

'EdgeC

olo

r','n

one',.

..

'Am

bie

ntS

trength

',0,...

'faceLig

hting','

phong',.

..

'Specula

rExponent',

3,...

'Specula

rStr

ength

',1,...

'Backfa

ceLig

hting','

unlit

',...

'Diffu

seS

trength

',0,...

'Specula

rColo

rReflecta

nce',0

);

reduce

patc

h(h

iso,

.5)

lightin

g p

ho

ng

isonorm

als

(Ds,h

iso);

colo

rma

p;

vie

w(4

5,3

0)

axis

tig

ht

set(

gcf,

'Rendere

r',‘zbuff

er')

xla

be

l('x

-axis

')

yla

be

l('y

-axis

')

zla

be

l('z

-axis

')

Vie

w T

ear

Lig

ht M

atlab C

ode

light(

'Positio

n',[3

0 7

0 1

4],

'Sty

le','lo

ca

l','C

olo

r','w

')

cam

targ

et(

[14 1

5 1

4])

cam

pos([

3,7

0,1

4])

Phong’s

Lig

hting E

quation

The b

lue d

ot

indic

ate

s t

he c

am

era

positio

n,

the y

ello

w d

ot

indic

ate

s t

he

light

sourc

e p

ositio

n.

The N

vecto

r re

pre

se

nts

the s

urf

ace n

orm

al.